Systems and methods for providing a vehicle service via a transportation network for autonomous vehicles

ABSTRACT

Systems and methods for providing a vehicle service are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of a service request to provide a vehicle service for an entity with respect to one or more cargo items designated for autonomous transport. The method includes obtaining a first cargo item among the one or more cargo items, from a representative of the entity at a dedicated first transfer hub proximate to a first location associated with the first cargo item. The method includes controlling a first autonomous vehicle to transport the first cargo item from the first transfer hub to a dedicated second transfer hub proximate to a second location associated with the first cargo item. The method includes providing the first cargo item to a representative of the entity at the second transfer hub, to provide the vehicle service.

PRIORITY CLAIM

The present application is a continuation of U.S. application Ser. No.16/799,040 having a filing date of Feb. 24, 2020 and U.S. applicationSer. No. 15/850,398 having a filing date of Dec. 21, 2017, issued asU.S. Pat. No. 10,571,917 both of which claim the benefit of U.S.Provisional Patent Application No. 62/584,268 filed Nov. 10, 2017.Applicant claims priority to and the benefit of each of suchapplications and incorporates all such applications herein by referencein their entirety.

FIELD

The present disclosure relates generally to providing a vehicletransportation service.

BACKGROUND

An autonomous vehicle is a vehicle that is capable of sensing itsenvironment and navigating without human input. In particular, anautonomous vehicle can observe its surrounding environment using avariety of sensors and can attempt to comprehend the environment byperforming various processing techniques on data collected by thesensors. Given knowledge of its surrounding environment, the autonomousvehicle can identify an appropriate motion plan through such surroundingenvironment.

SUMMARY

Aspects and advantages of the present disclosure will be set forth inpart in the following description, or may be learned from thedescription, or may be learned through practice of the embodiments.

One example aspect of the present disclosure is directed to acomputer-implemented method for providing a vehicle service. The methodincludes receiving, by one or more computing devices, data indicative ofa service request to provide a vehicle service for an entity withrespect to one or more cargo items designated for autonomous transport.The method includes obtaining, by the one or more computing devices, afirst cargo item among the one or more cargo items, from arepresentative of the entity at a dedicated first transfer hub proximateto a first location associated with the first cargo item. The methodincludes controlling, by the one or more computing devices, a firstautonomous vehicle to transport the first cargo item from the firsttransfer hub to a dedicated second transfer hub proximate to a secondlocation associated with the first cargo item. The method includesproviding, by the one or more computing devices, the first cargo item toa representative of the entity at the second transfer hub, to providethe vehicle service.

Another example aspect of the present disclosure is directed to acomputer-implemented method for managing a fleet of vehicles to providea vehicle transportation service. The method includes obtaining, by oneor more computing devices, data indicative of one or more assetsdesignated for autonomous transportation. The method includes obtaining,by the one or more computing devices, data indicative of one or moreautonomous vehicles in a fleet. The method includes determining, by theone or more computing devices, a first transfer hub and a secondtransfer hub for each of the one or more assets. The method includesscheduling, by the one or more computing devices, each of the one ormore assets for autonomous transportation by an autonomous vehicle inthe fleet. The method includes controlling, by the one or more computingdevices, the one or more autonomous vehicles to autonomously transportan asset from a respective first transfer hub to a respective secondtransfer hub.

Another example aspect of the present disclosure is directed to acomputer-implemented method for providing a multi-mode vehicletransportation service. The method includes obtaining, by one or morecomputing devices, data indicative of cargo item to be transported froma first location to a second location. The method includes determining,by the one or more computing devices, a first transfer hub to transportthe cargo item from the first location via a manual mode. The methodincludes determining, by the one or more computing devices, a secondtransfer hub to transport the cargo item to the second location via amanual mode. The method includes determining, by the one or morecomputing devices, a transportation route to transport the cargo itemfrom the first transfer hub to the second transfer hub via an autonomousmode. The method includes controlling, by the one or more computingdevices, an autonomous vehicle to autonomously transport the cargo itemfrom the first transfer hub to the second transfer hub, to provide themulti-mode vehicle transportation service.

Another example aspect of the present disclosure is directed to acomputer-implemented method for providing a multi-mode vehicletransportation service. The method includes receiving, by one or morecomputing devices, a service request from an entity for transporting acargo item, the service request indicating a point-of-origin for thecargo item and a point-of-delivery for the cargo item. The methodincludes determining, by the one or more computing devices, a firsttransfer hub located relative to the point-of-origin for receiving thecargo item from a representative of the entity. The method includesdetermining, by the one or more computing devices, a second transfer hublocated relative to the point-of-delivery for delivering the cargo itemto a representative of the entity. The method includes determining, bythe one or more computing devices, a transportation route to transportthe cargo item from the first transfer hub to the second transfer hubvia an autonomous mode. The method includes controlling, by the one ormore computing devices, an autonomous vehicle to autonomously transportthe cargo item from the first transfer hub to the second transfer hub.

Another example aspect of the present disclosure is directed to acomputing system for providing a vehicle service. The computing systemincludes one or more processors and one or more tangible,non-transitory, computer readable media that collectively storeinstructions that when executed by the one or more processors cause thecomputing system to perform operations. The operations include receivingdata indicative of a service request to provide a vehicle service for anentity with respect to one or more cargo items designated for autonomoustransport. The operations include obtaining a first cargo item among theone or more cargo items, from a representative of the entity at adedicated first transfer hub proximate to a first location associatedwith the first cargo item. The operations include controlling a firstautonomous vehicle to transport the first cargo item from the firsttransfer hub to a dedicated second transfer hub proximate to a secondlocation associated with the first cargo item. The operations includeproviding the first cargo item to a representative of the entity at thesecond transfer hub, to provide the vehicle service.

Another example aspect of the present disclosure is directed to acomputing system for managing a fleet of vehicles to provide a vehicletransportation service. The computing system includes one or moreprocessors and one or more tangible, non-transitory, computer readablemedia that collectively store instructions that when executed by the oneor more processors cause the computing system to perform operations. Theoperations include obtaining data indicative of one or more assetsdesignated for autonomous transportation. The operations includeobtaining data indicative of one or more autonomous vehicles in a fleet.The operations include determining a first transfer hub and a secondtransfer hub for each of the one or more assets. The operations includescheduling each of the one or more assets for autonomous transportationby an autonomous vehicle in the fleet. The operations includecontrolling the one or more autonomous vehicles to autonomouslytransport an asset from a respective first transfer hub to a respectivesecond transfer hub

Another example aspect of the present disclosure is directed to acomputing system for providing a multi-mode vehicle transportationservice. The computing system includes one or more processors and one ormore tangible, non-transitory, computer readable media that collectivelystore instructions that when executed by the one or more processorscause the computing system to perform operations. The operations includeobtaining data indicative of cargo item to be transported from a firstlocation to a second location. The operations include determining afirst transfer hub to transport the cargo item from the first locationvia a manual mode. The operations include determining a second transferhub to transport the cargo item to the second location via a manualmode. The operations include determining a transportation route totransport the cargo item from the first transfer hub to the secondtransfer hub via an autonomous mode. The operations include controllingan autonomous vehicle to autonomously transport the cargo item from thefirst transfer hub to the second transfer hub, to provide the multi-modevehicle transportation service.

Yet another example aspect of the present disclosure is directed to acomputing system for providing a multi-mode vehicle transportationservice. The computing system includes one or more processors and one ormore tangible, non-transitory, computer readable media that collectivelystore instructions that when executed by the one or more processorscause the computing system to perform operations. The operations includereceiving a service request from an entity for transporting a cargoitem, the service request indicating a point-of-origin for the cargoitem and a point-of-delivery for the cargo item. The operations includedetermining a first transfer hub located relative to the point-of-originfor receiving the cargo item from a representative of the entity. Theoperations include determining a second transfer hub located relative tothe point-of-delivery for delivering the cargo item to a representativeof the entity. The operations include determining a transportation routeto transport the cargo item from the first transfer hub to the secondtransfer hub via an autonomous mode. The operations include controllingan autonomous vehicle to autonomously transport the cargo item from thefirst transfer hub to the second transfer hub.

Other example aspects of the present disclosure are directed to systems,methods, vehicles, apparatuses, tangible, non-transitorycomputer-readable media, and memory devices for controlling anautonomous vehicle.

These and other features, aspects, and advantages of various embodimentswill become better understood with reference to the followingdescription and appended claims. The accompanying drawings, which areincorporated in and constitute a part of this specification, illustrateembodiments of the present disclosure and, together with thedescription, serve to explain the related principles.

BRIEF DESCRIPTION OF THE DRAWINGS

Detailed discussion of embodiments directed to one of ordinary skill inthe art are set forth below, which make reference to the appendedfigures, in which:

FIG. 1 depicts an example system overview according to exampleembodiments of the present disclosure;

FIG. 2 depicts an example network of transportation routes according toexample embodiments of the present disclosure;

FIG. 3 depicts an example transfer hub according to example embodimentsof the present disclosure;

FIGS. 4-1 to 4-16 depict examples of an autonomous vehicle providing avehicle service according to example embodiments of the presentdisclosure;

FIG. 5 depicts a flow diagram of an example method for providing avehicle service according to example embodiments of the presentdisclosure;

FIG. 6 depicts a flow diagram of an example method for managing a fleetof vehicles to provide a vehicle service according to exampleembodiments of the present disclosure; and

FIG. 7 depicts example system components according to exampleembodiments of the present disclosure.

Reference numerals that are repeated across plural figures are intendedto identify the same components or features in various implementations.

DETAILED DESCRIPTION

Reference now will be made in detail to embodiments, one or moreexample(s) of which are illustrated in the drawings. Each example isprovided by way of explanation of the embodiments, not limitation of thepresent disclosure. In fact, it will be apparent to those skilled in theart that various modifications and variations can be made to theembodiments without departing from the scope or spirit of the presentdisclosure. For instance, features illustrated or described as part ofone embodiment can be used with another embodiment to yield a stillfurther embodiment. Thus, it is intended that aspects of the presentdisclosure cover such modifications and variations.

Example aspects of the present disclosure are directed to providing avehicle service to transport cargo from a first location to a secondlocation. A service provider can use a fleet of vehicles to provide avehicle transportation service across a plurality of locations thatinclude the first and second locations. The fleet of vehicles caninclude one or more autonomous vehicles that can drive, navigate,operate, etc. with minimal and/or no interaction from a human driver.The plurality of locations can each be associated with a proximatetransfer hub among a plurality of transfer hubs. The plurality oftransfer hubs can be linked via a plurality of transportation routessuch that each transfer hub is linked with at least one other transferhub, to create a network of transportation routes (e.g., transportationnetwork). The service provider can control an autonomous vehicle in itsfleet to navigate from a first transfer hub to a second transfer hubamong the plurality of transfer hubs, to autonomously transport thecargo.

As an example, a service provider can provide a vehicle transportationservice to autonomously transport cargo from a first location to asecond location. The first location can be a point of origin of thefirst cargo, and the second location can be a point of delivery of thefirst cargo. The service provider can determine a first transfer hubproximate to the first location, a second transfer hub proximate to thesecond location, and a transportation route connecting the firsttransfer hub to the second transfer hub. The service provider cancontrol a first autonomous vehicle in its fleet to pick-up the cargo atthe first transfer hub, transport the cargo from the first transfer hubto the second transfer hub based on the transportation route, anddrop-off the cargo at the second transfer hub.

As another example, a service provider can provide a vehicletransportation service to autonomously transport a plurality of assetsfrom a respective first location to a respective second location. Theplurality of assets can each include one or more cargo items. Theservice provider can determine, for each asset, a first transfer hubproximate to the first location, a second transfer hub proximate to thesecond location, and a transportation route connecting the firsttransfer hub to the second transfer hub. The service provider can obtaina status of one or more autonomous vehicles in its fleet (e.g.,location, diagnostics information, a vehicle service being provided, arequesting/recipient entity of each vehicle service, etc.), and allocatethe plurality of assets among the one or more autonomous vehicles forautonomous transport, to provide the vehicle transportation service. Inparticular, the service provider can schedule each of the plurality ofassets to be transported by one of the autonomous vehicles in its fleet.The service provider can monitor a status of the fleet to optimize anallocation of the plurality of assets to maximize an efficiency forproviding the vehicle transportation service and to maximize autilization of its fleet.

Aspects of the present disclosure can provide a system (e.g., acomputing system), and methods for controlling the same, to provide avehicle transportation service to autonomously transport cargo from afirst location to a second location. Aspects of the present disclosurecan also provide systems and methods for managing a fleet of vehicles toprovide a vehicle transportation service to autonomously transport aplurality of assets from a respective first location to a respectivesecond location.

In some embodiments, the computing system can include one or moreprocessors, and one or more tangible, non-transitory media thatcollectively store data indicative of one or more autonomous vehicles(e.g., fleet status information), a transportation network, and one ormore cargo items designated for autonomous transport. The one or morecargo items can include a trailer (e.g., intermodal container) and/orone or more items within a trailer. The computing system can schedule aplurality of cargo items for autonomous transportation over thetransportation network via the one or more autonomous vehicles.

In some embodiments, the computing system can include a communicationssystem that allows the computing system to communicate with one or moreother computing systems (e.g., a vehicle computing system, a customercomputing system, etc.). The one or more other computing systems can beremote from the computing system. For example, the computing system cancommunicate with a vehicle computing system of an autonomous vehicle tocontrol the autonomous vehicle to transport a cargo item. As anotherexample, the computing system can communicate with a customer computingsystem to obtain data indicative of one or more cargo items designatedfor autonomous delivery.

A service provider can use the computing system to control one or morevehicles to provide a vehicle service, such as a transportation service.The vehicles can be autonomous vehicles that include various systems anddevices configured to control the operation of the vehicle. For example,an autonomous vehicle can include an on-board vehicle computing systemfor operating the vehicle (e.g., located on or within the autonomousvehicle). The vehicle computing system can receive sensor data fromsensor(s) on-board the vehicle (e.g., cameras, LIDAR, RADAR), attempt tocomprehend the vehicle's surrounding environment by performing variousprocessing techniques on the sensor data, and generate an appropriatemotion plan through the vehicle's surrounding environment. Moreover, theautonomous vehicle can be configured to communicate with one or morecomputing devices that are remote from the vehicle. For example, anautonomous vehicle can communicate with an operations computing system(e.g., service provider). The operations computing system can help theservice provider monitor, communicate with, manage, etc. the fleet ofvehicles. As another example, the autonomous vehicle can communicatewith a customer computing system associated with a customer. As yetanother example, the autonomous vehicle can communicate with a computingsystem of one or more other autonomous vehicles. In someimplementations, the operations computing system can mediatecommunication between the autonomous vehicle and other remote computingsystems (e.g., customer computing system, vehicle computing system ofone or more other autonomous vehicles, etc.).

A service provider can provide a vehicle service in response to aservice request to provide the vehicle service. The service provider canreceive/obtain the service request from a requesting entity (e.g.,customer) who requests the vehicle service. For example, a serviceprovider can receive/obtain a service request from a customer via acomputing system of the customer. The service request can indicate oneor more cargo items designated for autonomous transport. Additionally,or alternatively, the service request can indicate criteria fordesignating one or more cargo items for autonomous transport. In someimplementations, the service request can include a request for a servicesubscription. The service subscription can be governed by a subscriptionagreement between the service provider and a requesting entity.

A service provider can obtain data indicative of each designated cargoitem, such as, for example, a point of origin, point of delivery, and/orcurrent location. The point of origin can correspond to a startinglocation of the cargo item (e.g., a sender's address, shipping address,etc.), and the point of delivery can correspond to a final location ofthe cargo item (e.g., a recipient's address, delivery address, etc.).The current location can be initialized to the point of origin andperiodically updated to reflect a new location of the cargo item. Forexample, before a designated cargo item is transported, a currentlocation of the cargo item can be set to a point of origin of the cargoitem. When the designated cargo item is being transported, a currentlocation of the cargo item can be set to a transfer hub (e.g., mostrecent transfer hub along one or more transportation routes that linkthe first transfer hub to the second transfer hub). After the designatedcargo item is delivered to its point of delivery, a current location ofthe cargo item can be set to a point of delivery of the cargo item.

A location of a point of origin and a location of a point of deliveryfor each of the plurality of cargo items, and a location of each of theplurality of transfer hubs, can be associated with a navigation score.The navigation score can indicate an ease of navigation at, near, or tothe respective location. A location associated with a high score canindicate that navigation (e.g., autonomous navigation) at, near, or tothe location is relatively easy. A location associated with a low scorecan indicate that navigation (e.g., autonomous navigation) at, near, orto the location is relatively difficult. For example, a locationproximate to a dense urban area can be associated with a low navigationscore because of high congestion, complex intersections, frequenttraffic stops, poor infrastructure, etc. As another example, a locationproximate to a mountain top can be associated with a low navigationscore because of limited accessibility, dangerous terrain, etc. As yetanother example, a location proximate to a multi-lane highway can beassociated with a high navigation score because of an ease of access tothe multi-lane highway, an availability of reserved/private access lanesto enter/exit the highway, etc.

A transfer hub among the plurality of transfer hubs can be intentionallyplaced or selected at a location associated with a high navigationscore. In particular, a point of origin and/or a point of delivery foreach of the plurality of cargo items can be associated with a proximatetransfer hub. A transfer hub can be placed or selected at a locationwith a higher navigation score with respect to a location of one or morepoints of origin or one or more points of delivery proximate to thetransfer hub.

A service provider can transport a designated cargo item from a firstlocation associated with the cargo item to a second location associatedwith the cargo item. In some implementations, the first location can bea point of origin of the cargo item and the second location can be apoint of delivery of the cargo item. In some implementations, the firstlocation can be a first transfer hub proximate to a point of origin ofthe cargo item and the second location can be a second transfer hubproximate to a point of delivery of the cargo item. For example, avehicle transportation service customer can be a carrier entityresponsible for transporting a cargo item from its point of origin toits point of delivery. The carrier entity can own and/or operate one ormore vehicles that can transport the cargo item between (to/from) itspoint of origin or delivery and a transfer hub proximate to the point oforigin or delivery. The carrier entity can transport the cargo item fromits point of origin to a first transfer hub and hand-off the cargo itemto a provider of the vehicle transportation service (e.g., serviceprovider). The service provider can pick-up the cargo item at the firsttransfer hub and transport the cargo item to a second transfer hub. Theservice provider can drop-off the cargo item at the second transfer huband hand-off the cargo item to the carrier entity. The carrier entitycan then transport/deliver the cargo item from the second transfer hubto the point of delivery.

A service provider can determine a transportation route for autonomouslytransporting a designated cargo item. The transportation route can linktwo transfer hubs in a transportation network (e.g., a first transferhub to a second transfer hub, a first transfer hub to an intermediatetransfer hub, an intermediate transfer hub to another intermediatetransfer hub, an intermediate transfer hub to a second transfer hub,etc.). The service provider can determine the transportation route basedon a first transfer hub proximate to a first location associated withthe designated cargo item and a second transfer hub proximate to asecond location associated with the designated cargo item.

In some implementations, the service provider can determine atransportation route based on a first transfer hub proximate to acurrent location of the designated cargo item. For example, if a currentlocation of a cargo item is a transfer hub, then the service providercan determine a transportation route from that transfer hub to a secondtransfer hub proximate to a point of delivery of the cargo item. Theservice provider can update a current location of the cargo item as thecargo item is transported.

In some implementations, the service provider can determine atransportation route based one or more intermediate transfer hubs. Inparticular, the service provider can determine one or moretransportation routes that link the first transfer hub to the secondtransfer hub via the one or more intermediate transfer hubs. Forexample, a service provider can autonomously transport a cargo item froma first transfer hub to an intermediate transfer hub (e.g., a transferhub that is not proximate to a point of delivery of the cargo item), andsubsequently transport the cargo item from the intermediate transfer hubto a second transfer hub.

A transfer hub can include a loading zone, launch zone, and landingzone. A designated cargo item can be transported from its point oforigin to a loading zone of the first transfer hub. For example, thedesignated cargo item can be transported by a customer's vehicle. Thecustomer's vehicle can be a vehicle owned and operated by the customer,an agent of the customer, an independent contractor, or some combinationthereof that represents or is associated with the customer.

At the loading zone, the designated cargo can be unhitched from acustomer's vehicle, and hitched to an autonomous vehicle selected by theservice provider to autonomously transport the designated cargo item.When the designated cargo item is unhitched, the service provider cancontrol a selected autonomous vehicle to pick-up the designated cargoitem. As an example, if a selected autonomous vehicle is at the loadingzone when the designated cargo is unhitched, then the designated cargocan be hitched to the selected autonomous vehicle. As another example,if a selected autonomous vehicle is not at the loading zone when thedesignated cargo is unhitched, then the service provider can control theselected autonomous vehicle to travel to the loading zone. Thedesignated cargo can be stored at the loading zone until the selectedautonomous vehicle arrives. In some implementations, the selectedautonomous vehicle can arrive at a landing zone of the first transferhub. The customer, an agent of the customer, an independent contractor,or some combination thereof can manually operate the selected autonomousvehicle to drive from the landing zone to the loading zone. At theloading zone, the designated cargo can be hitched to the selectedautonomous vehicle.

A service provider can determine when a designated cargo is hitched to aselected autonomous vehicle. When the service provider determines thatthe designated cargo is hitched to the selected autonomous vehicle, theservice provider can control the selected autonomous vehicle to travelto the launch zone. The launch zone can include access to an on-ramp forentering a highway. In some implementations, a customer, an agent of thecustomer, an independent contractor, or some combination thereof canmanually operate the selected autonomous vehicle to drive it from theloading zone to the launch zone. The launch zone of the first transferhub can be associated with a higher navigation score with respect to theloading zone of the first transfer hub.

When the selected autonomous vehicle arrives at the launch zone of thefirst transfer hub, the service provider can control the selectedautonomous vehicle to autonomously navigate from the launch zone to alanding zone of the second transfer hub. The landing zone of the secondtransfer hub can include access to an off-ramp for exiting the highway.The selected autonomous vehicle can autonomously navigate onto thehighway via the on-ramp at the launch zone of the first transfer hub,and travel to the landing zone of the second transfer hub via theoff-ramp at the landing zone of the second transfer hub.

When the selected autonomous vehicle arrives at the landing zone of thesecond transfer hub, the service provider can control the selectedautonomous vehicle to drop-off the designated cargo. The landing zone ofthe second transfer hub can be associated with a higher navigation scorewith respect to the loading zone of the second transfer hub. The serviceprovider can control the selected autonomous vehicle to autonomouslynavigate from the landing zone to a loading zone of the second transferhub. In some implementations, a customer, an agent of the customer, anindependent contractor, or some combination thereof can manually operatethe selected autonomous vehicle to drive it from the landing zone to theloading zone. At the loading zone of the second transfer hub, thedesignated cargo item can be unhitched from the selected autonomousvehicle. In some implementations, a customer, an agent of the customer,an independent contractor, or some combination thereof can unhitch thedesignated cargo item from the selected autonomous vehicle, andsubsequently hitch the designated cargo item to a customer's vehicle totransport from the second transfer hub to a point of delivery.

In some implementations, a transfer hub can include one or moremaintenance zones, one or more inspection zones, and/or other designatedzones. A maintenance zone can include facilities and/or personnel toprovide a maintenance service for an autonomous vehicle. For example, aservice provider can control an autonomous vehicle to travel to amaintenance zone at periodic intervals for a scheduled oil change,emissions test, instrument calibration, etc. As another example, anautonomous vehicle can detect a fault in one or more components of thevehicle, and in response the autonomous vehicle or a service providercan schedule maintenance at a maintenance zone of the nearest transferhub. The inspection zone can include facilities and/or personnel toinspect an autonomous vehicle. At the inspection zone, the autonomousvehicle can be inspected to confirm a weight of an attached cargo item,whether the attached cargo item is securely and properly attached to theautonomous vehicle, whether the autonomous vehicle has enough fuel,and/or that other inspection criteria is satisfied. For example, anautonomous vehicle can stop at an inspection zone on its way from aloading zone to a launch zone of a transfer hub (before the autonomousvehicle leaves the loading zone, in between the loading zone and launchzone, after the autonomous vehicle arrives at the launch zone). Asanother example, an autonomous vehicle can stop at an inspection zonewhen it arrives at a transfer hub.

The systems and methods described herein may provide a number oftechnical effects and benefits. By utilizing one or more dedicatedtransfer hubs proximate to highway on/off ramps, a fleet of vehicles canbe used to provide a vehicle service, while avoiding regulatoryimplications and/or technical complexities caused by, for example,pedestrians, stop lights, intersections, etc. Moreover, by handing-offtransportation of a cargo item between a transfer hub and a point oforigin/delivery to a driver, the systems and methods can optimize anallocation of resources to provide the vehicle transportation service,and maximize an efficiency/utilization of the fleet of vehicles.

The systems and methods described herein may also provide resultingimprovements to computing technology tasked with providing a vehicleservice and/or managing a fleet of vehicles to provide a vehicleservice. For example, the systems and methods described herein mayprovide improvements in an efficiency of providing the vehicle service,and in a utilization of the vehicles for providing the vehicle service,resulting in greater throughput and reduced energy expenditure andprocessing requirements for computing systems.

EXAMPLE EMBODIMENTS

With reference now to the FIGS., example embodiments of the presentdisclosure will be discussed in further detail. FIG. 1 depicts anexample system 100 according to example embodiments of the presentdisclosure. The system 100 can include a vehicle computing system 102associated with a vehicle 104, one or more remote computing systems 103including an operations computing system 120, and a customer computingsystem 122. The system 100 can also include one or more additionalvehicle(s) 105, each including a respective vehicle computing system(not shown).

In some implementations, the vehicle computing system 102, operationscomputing system 120, customer computing system 122, and additionalvehicle(s) 105 can be remote from each other and communicate with eachother remotely.

In some implementations, the vehicle 104 can be part of a fleet ofvehicles managed by the operations computing system 120. Additionally,one or more of vehicles among the one or more additional vehicles 105can be part of the fleet of vehicles managed by the operations computingsystem 120.

The operations computing system 120 can manage the vehicle 104 via thevehicle computing system 102. Additionally, the operations computingsystem 120 can manage the one or more additional vehicle 105 via arespective vehicle computing system. The operations computing system 120can obtain data indicative of a service request from a customer, forexample, via the customer computing system 122. The operations computingsystem 120 can select the autonomous vehicle 104 (or one of theadditional vehicles 105) to provide the vehicle service requested by thecustomer. The operations computing system 120 can provide the vehiclecomputing system 102 with data indicative of a cargo item designated forautonomous transport, and control the vehicle 104 to provide the vehicleservice.

The vehicle 104 incorporating the vehicle computing system 102 can be aground-based autonomous vehicle (e.g., car, truck, bus), an air-basedautonomous vehicle (e.g., airplane, drone, helicopter, or otheraircraft), or other types of vehicles (e.g., watercraft). The vehicle104 can be an autonomous vehicle that can drive, navigate, operate, etc.with minimal and/or no interaction from a human driver.

The vehicle 104 can include one or more sensors that can acquire sensordata indicative of one or more objects proximate to the vehicle 104,and/or indicative of one or more conditions. The objects can include,for example, pedestrians, vehicles, bicycles, attached cargo, and/orother objects. The conditions can include, for example, whether a cargoitem is hitched to the vehicle 104, whether a human operator is presentin the autonomous vehicle, whether one or more diagnostic checks aresuccessfully completed, a geographic location of the vehicle 104, and/orother conditions.

The vehicle 104 can include an autonomy computing system that can obtainthe sensor data from the sensors, attempt to comprehend the surroundingenvironment by performing various processing techniques on the sensordata (and/or other data), and generate an appropriate motion planthrough such surrounding environment.

FIG. 2 depicts a diagram 200 of a transportation network according toexample embodiments of the present disclosure. The diagram 200 includesa plurality of transfer hubs, and a plurality of points of origin and/orpoints of delivery. The plurality of points can be associated with aproximate transfer hub among the plurality of transfer hubs. Theplurality of transfer hubs can be linked via one or more transportationroutes. In particular, the points of origin and/or delivery 242 and 244can be associated with proximate transfer hub 262; the point of originand/or delivery 246 can be associated with proximate transfer hub 264;the point of origin and/or delivery 248 can be associated with proximatetransfer hub 264 and/or proximate transfer hub 266; the point of originand/or delivery 250 can be associated with proximate transfer hub 266;the point of origin and/or delivery 252 can be associated with proximatetransfer hub 268; the point of origin and/or delivery 254 can beassociated with proximate transfer hub 270; the point of origin and/ordelivery 256 can be associated with proximate transfer hub 262 and/orproximate transfer hub 270. The transfer hub 262 can be connected to thetransfer hub 264 via the transportation route 281; the transfer hub 264can be connected to the transfer hub 262 via the transportation route282; the transfer hubs 264, 266, and 270 can be connected to thetransfer hub 272 via the transportation routes 283, 284, and 286,respectively; and the transfer hub 272 can be connected to the transferhub 266 via the transportation route 285.

FIG. 3 depicts a diagram 300 of a transfer hub 360 according to exampleembodiments of the present disclosure. The transfer hub 360 can includea loading zone 362, launch zone 364, and landing zone 366. The loadingzone 362 can be accessible to one or more customer vehicles that cantransport cargo between the loading zone 362 and one or more points oforigin 340 proximate to the transfer hub 360 and between the loadingzone 362 and one or more points of delivery 350 proximate to thetransfer hub 360.

The loading zone 362 can be connected to the launch zone 364 via anaccess route 372, and connected to the landing zone 366 via an accessroute 378. The launch zone 364 can be connected to a highway via anon-ramp 374, and the landing zone can be connected to the highway via anoff-ramp 376. An autonomous vehicle can exit the transfer hub onto thehighway via the on-ramp 374, and the autonomous vehicle can enter thetransfer hub via the off-ramp 376.

FIGS. 4-1 to 4-16 depict examples of providing a vehicle serviceaccording to example embodiments of the present disclosure. Inparticular, FIG. 4-1 depicts a diagram 401 that illustrates an exampleof a cargo item 420 (e.g., a trailer or cargo enclosure) beingtransported to a transfer hub 460. The cargo item 420 can be transportedby a customer vehicle 430 from a point of origin of origin of the cargoitem 420 proximate to the transfer hub 460.

FIG. 4-2 depicts a diagram 402 that illustrates an example hand-over ofthe cargo item 420. The cargo item 420 can be unhitched from thecustomer vehicle 430, and hitched to the autonomous vehicle 440. Thecustomer vehicle 430 can hitch a cargo item 422 that has a point ofdelivery proximate to the transfer hub 460.

FIG. 4-3 depicts a diagram 403 that illustrates an example ofautonomously transporting the cargo item 420 from the transfer hub 460.The autonomous vehicle 440 can exit the transfer hub 460 onto a highwayvia dedicated access lane 484 and an on-ramp 474. The customer vehicle430 can transport the cargo item 422 from the transfer hub 460 to apoint of delivery proximate to the transfer hub 460 via one or morelocal roads 490.

FIG. 4-4 depicts a diagram 404 that illustrates an example ofautonomously transporting the cargo item 420 over a transportationnetwork. The autonomous vehicle 440 can autonomously transport the cargoitem 420 to another transfer hub by autonomously navigating along thehighway in accordance with a transportation route.

FIG. 4-5 depicts a diagram 405 that illustrates an example ofautonomously transporting the cargo item 420 to the transfer hub 462.The autonomous vehicle 440 can approach the transfer hub 462 with thecargo item 420. Independent of the autonomous vehicle 440, a customervehicle 432 can approach the transfer hub 462 with a cargo item 424. Thecargo item 424 can be transported by the customer vehicle 432 from apoint of origin of the cargo item 424 proximate to the transfer hub 462.

FIG. 4-6 depicts a diagram 406 that illustrates an example ofautonomously transporting the cargo item 420 to the transfer hub 462 viaa dedicated access lane 486. The autonomous vehicle 440 can exit thehighway via the off-ramp 476, and enter the transfer hub 462 via thededicated access lane 486.

FIG. 4-7 depicts a diagram 407 that illustrates an example ofautonomously transporting the cargo item 420 to the transfer hub 462 viaone or more local roads 490. The autonomous vehicle 440 can exit thehighway via the off-ramp 476, and autonomously navigate to the transferhub 462 via one or more local roads 490.

FIG. 4-8 depicts a diagram 408 that illustrates an example ofautonomously transporting the cargo item 420 to the transfer hub 462 viaa local route over one or more local roads 490. The autonomous vehicle440 can exit the highway via the off-ramp 476, and autonomously navigateto the transfer hub 462 via one or more local roads 490.

FIG. 4-9 depicts a diagram 409 that illustrates an example ofautonomously transporting the cargo item 420 to the transfer hub 462 viaa dedicated shoulder zone 482. The autonomous vehicle 440 can exit thehighway via the off-ramp 476, and pull-over at the dedicated shoulderzone 482.

FIG. 4-10 depicts a diagram 410 that illustrates an example hand-over ofthe cargo item 420. The cargo item 420 can be unhitched from theautonomous vehicle 440 at the transfer hub 462, and the cargo item 426can be hitched to the autonomous vehicle 440.

FIG. 4-11 depicts a diagram 411 that illustrates an example hand-over ofthe cargo item 420. pick-up of the cargo item 426. The cargo item 426can be hitched to the autonomous vehicle 440. The cargo item 426 can behitched to the autonomous vehicle 440, and the customer vehicle 432 canhitch the cargo item 420 that has a point of delivery proximate to thetransfer hub 462.

FIG. 4-12 depicts a diagram 412 that illustrates an example oftransporting the cargo item 420 to a point of delivery proximate to thetransfer hub 462. The customer vehicle 432 can transport the cargo item420 from the transfer hub 462 to a point of delivery proximate to thetransfer hub 462 via one or more local roads 490.

FIG. 4-13 depicts a diagram 413 that illustrates an example of exitingthe transfer hub 462. The autonomous vehicle 440 can be manuallyoperated to drive to a launch zone 464 of the transfer hub 462.

FIG. 4-14 depicts a diagram 414 that illustrates an example of exitingthe transfer hub 462. The autonomous vehicle 440 can be manuallyoperated to drive to a shoulder zone 484 of the transfer hub 462.

FIG. 4-15 depicts a diagram 415 that illustrates an example ofautonomously transporting the cargo item 426 from the transfer hub 462.The autonomous vehicle 440 can exit the transfer hub 460 onto a highwayvia an on-ramp 478.

FIG. 4-16 depicts a diagram 416 that illustrates an example ofautonomously transporting the cargo item 426 from the transfer hub 462.The autonomous vehicle 440 can exit the transfer hub 462 onto a highwayvia one or more local roads 490 leading to the on-ramp 478.

FIGS. 5 and 6 depict flow diagrams of example method(s) for providing avehicle service according to example embodiments of the presentdisclosure. One or more portion(s) of the methods 500 and 600 can beimplemented as operations by one or more computing system(s) such as,for example, the computing system(s) 102, 103, 120, 122, 701, and 710shown in FIGS. 1 and 7 . Moreover, one or more portion(s) of the methods500 and 600 can be implemented as an algorithm on the hardwarecomponents of the system(s) described herein (e.g., as in FIGS. 1 and 7) to, for example, provide a vehicle service. FIGS. 5-6 depict elementsperformed in a particular order for purposes of illustration anddiscussion. Those of ordinary skill in the art, using the disclosuresprovided herein, will understand that the elements of any of the methods(e.g., of FIG. 5 , FIG. 6 ) discussed herein can be adapted, rearranged,expanded, omitted, combined, and/or modified in various ways withoutdeviating from the scope of the present disclosure.

FIG. 5 depicts a flow diagram of an example method 500. At (501), themethod 500 can include receiving a service request to provide a vehicleservice. For example, the operations computing system 120 can receivedata indicative of a service request from a customer computing system,to provide a vehicle service for a customer.

At (502), the method 500 can include determining a cargo item forautonomous transport. For example, the operations computing system 120can determine a cargo item for autonomous transport based on the dataindicative of a service request. The data indicative of a servicerequest can include an identifier of one or more cargo items designatedfor autonomous transport.

At (503), the method 500 can include determining a first transfer huband a second transfer hub for the transporting the cargo item. Forexample, the operations computing system 120 can determine a cargo itemfor autonomous transport based on the data indicative of a servicerequest. The data indicative of a service request can include a point oforigin, a point of delivery, and a current location for each cargo itemdesignated for autonomous transport. The operations computing system 120can determine a first transfer hub proximate to the point of origin orthe current location of a cargo item, and determine a second transferhub proximate to the point of delivery of the cargo item.

At (504), the method 500 can include determining a transportation routefrom the first transfer hub to the second transfer hub. For example, theoperations computing system 120 can determine a transportation routefrom a launch zone of the first transfer hub to a landing zone of thesecond transfer hub.

At (505), the method 500 can include picking-up the cargo item at thefirst transfer hub. For example, the operations computing system 120 cancontrol the vehicle 104, via the vehicle computing system 102, to obtaina cargo item at the first transfer hub. In particular, the operationscomputing system 120 can control the vehicle 104 to travel to a loadingzone of the first transfer hub to hitch the cargo item, and control thevehicle 104 to travel with the cargo item to a launch zone of the firsttransfer hub.

At (506), the method 500 can include transporting the cargo item fromthe first transfer hub to the second transfer hub. For example, theoperations computing system 120 can control the vehicle 104 toautonomously navigate from the first transfer hub to a second transferhub, to transport the cargo item.

At (507), the method 500 can include dropping-off the cargo item at thesecond transfer hub. For example, the operations computing system 120can control the vehicle 104 to travel to a loading zone of the secondtransfer hub and unhitch the cargo item.

FIG. 6 depicts a flow diagram of an example method 600. At (601), themethod 600 can include obtaining data indicative of assets designatedfor autonomous transportation. For example, the operations computingsystem 120 can obtain data from a customer computing system 122 thatincludes one or more assets designated for autonomous transportation,and a point of origin, a point of delivery, and a current location ofeach designated asset.

At (602), the method 600 can include obtaining data indicative ofautonomous vehicles in a fleet. For example, the operations computingsystem 120 can obtain status information of one of the vehicle 104and/or one or more autonomous vehicles among the additional vehicles105. The status information can include a location of the autonomousvehicle, and a vehicle service (if any) being provided by the autonomousvehicle.

At (603), the method 600 can include determining a first transfer huband a second transfer hub for each asset. For example, the serviceprovider can determine, for each asset, a first transfer hub proximateto the point of origin for the asset, and a second transfer hubproximate to the point of delivery.

At (604), the method 600 can include scheduling each asset forautonomous transportation using an autonomous vehicle. For example, theoperations computing system 120 can schedule each of the plurality ofassets to be transported by one of the autonomous vehicles in the fleet.

At (605), the method 600 can include optimizing an allocation of theautonomous vehicles. For example, the operations computing system 120can adjust an allocation of the one or more assets among one or moreautonomous vehicles for transporting the one or more assets, to maximizean efficiency of transporting the assets, and to maximize a utilizationof the one or more autonomous vehicles in the fleet.

At (606), the method 600 can include transporting the assets from thefirst transfer hub to the second transfer hub. For example, theoperations computing system 120 can control the vehicle 104 toautonomously navigate from the first transfer hub to a second transferhub, to transport the cargo item.

FIG. 7 depicts an example computing system 700 according to exampleembodiments of the present disclosure. The example system 700illustrated in FIG. 7 is provided as an example only. The components,systems, connections, and/or other aspects illustrated in FIG. 7 areoptional and are provided as examples of what is possible, but notrequired, to implement the present disclosure. The example system 700can include the vehicle computing system 102 of the vehicle 104 andremote computing system(s) 710 including one or more remote computingsystem(s) that are remote from the vehicle 104 (e.g., the operationscomputing system 120) that can be communicatively coupled to one anotherover one or more networks 730. The remote computing system 710 can beassociated with a central operations system and/or an entity associatedwith the vehicle 104 such as, for example, a vehicle owner, vehiclemanager, fleet operator, service provider, etc.

The computing device(s) 701 of the vehicle computing system 102 caninclude processor(s) 702 and a memory 704. The one or more processors702 can be any suitable processing device (e.g., a processor core, amicroprocessor, an ASIC, a FPGA, a controller, a microcontroller, etc.)and can be one processor or a plurality of processors that areoperatively connected. The memory 704 can include one or morenon-transitory computer-readable storage media, such as RAM, ROM,EEPROM, EPROM, one or more memory devices, flash memory devices, etc.,and combinations thereof.

The memory 704 can store information that can be accessed by the one ormore processors 702. For instance, the memory 704 (e.g., one or morenon-transitory computer-readable storage mediums, memory devices)on-board the vehicle 104 can include computer-readable instructions 706that can be executed by the one or more processors 702. The instructions706 can be software written in any suitable programming language or canbe implemented in hardware. Additionally, or alternatively, theinstructions 706 can be executed in logically and/or virtually separatethreads on processor(s) 702.

For example, the memory 704 on-board the vehicle 104 can storeinstructions 706 that when executed by the one or more processors 702on-board the vehicle 104 cause the one or more processors 702 (thevehicle computing system 102) to perform operations such as any of theoperations and functions of the vehicle computing system 102, asdescribed herein, one or more operations of methods 500, 600, and/or anyother operations and functions of the vehicle computing system 102, asdescribed herein.

The memory 704 can store data 708 that can be obtained, received,accessed, written, manipulated, created, and/or stored. The data 708 caninclude, for instance, data associated with perception, prediction,motion plan, transportation network, service request and/or otherdata/information as described herein. In some implementations, thecomputing device(s) 701 can obtain data from one or more memorydevice(s) that are remote from the vehicle 104.

The computing device(s) 701 can also include a communication interface703 used to communicate with one or more other system(s) on-board thevehicle 104 and/or a remote computing device that is remote from thevehicle 104 (e.g., of remote computing system(s) 710). The communicationinterface 703 can include any circuits, components, software, etc. forcommunicating via one or more networks (e.g., 720). In someimplementations, the communication interface 703 can include, forexample, one or more of a communications controller, receiver,transceiver, transmitter, port, conductors, software, and/or hardwarefor communicating data.

The network(s) 720 can be any type of network or combination of networksthat allows for communication between devices. In some embodiments, thenetwork(s) can include one or more of a local area network, wide areanetwork, the Internet, secure network, cellular network, mesh network,peer-to-peer communication link, and/or some combination thereof, andcan include any number of wired or wireless links. Communication overthe network(s) 720 can be accomplished, for instance, via acommunication interface using any type of protocol, protection scheme,encoding, format, packaging, etc.

The remote computing system 710 can include one or more remote computingdevices that are remote from the vehicle computing system 102. Theremote computing devices can include components (e.g., processor(s),memory, instructions, data) similar to that described herein for thecomputing device(s) 701. Moreover, the remote computing system(s) 710can be configured to perform one or more operations of the operationscomputing system 120, as described herein. Moreover, the computingsystems of other vehicles described herein can include componentssimilar to that of vehicle computing system 102.

Computing tasks discussed herein as being performed at computingdevice(s) remote from the vehicle can instead be performed at thevehicle (e.g., via the vehicle computing system), or vice versa. Suchconfigurations can be implemented without deviating from the scope ofthe present disclosure. The use of computer-based systems allows for agreat variety of possible configurations, combinations, and divisions oftasks and functionality between and among components.Computer-implemented operations can be performed on a single componentor across multiple components. Computer-implemented tasks and/oroperations can be performed sequentially or in parallel. Data andinstructions can be stored in a single memory device or across multiplememory devices.

While the present subject matter has been described in detail withrespect to specific example embodiments and methods thereof, it will beappreciated that those skilled in the art, upon attaining anunderstanding of the foregoing can readily produce alterations to,variations of, and equivalents to such embodiments. Accordingly, thescope of the present disclosure is by way of example rather than by wayof limitation, and the subject disclosure does not preclude inclusion ofsuch modifications, variations and/or additions to the present subjectmatter as would be readily apparent to one of ordinary skill in the art.

What is claimed is:
 1. A computing system, comprising: one or more processors; and one or more tangible, non-transitory, computer readable media that store instructions that when executed by the one or more processors cause the computing system to perform operations, the operations comprising: obtaining data indicative of cargo, wherein the data is indicative of a first location from which the cargo is to be transported by a first manually operated vehicle and a second location to which the cargo is to be transported by a second manually operated vehicle; determining a first transfer hub and a second transfer hub for transporting the cargo, wherein the first transfer hub is based at least in part on the first location for the cargo and the second transfer hub is based at least in part on the second location for the cargo; and providing data indicative of the first transfer hub and the second transfer hub to an autonomous vehicle such that the autonomous vehicle transports the cargo from the first transfer hub to the second transfer hub.
 2. The computing system of claim 1, wherein the first location is a point-of-origin for the cargo and the second location is a point-of-delivery for the cargo: determining the first transfer hub based at least in part on the point-of-origin for the cargo and the second transfer hub based at least in part on the point-of-delivery for the cargo.
 3. The computing system of claim 2, wherein the data indicative of the cargo comprises a service request indicative of the point-of-origin and the point-of-delivery.
 4. The computing system of claim 3, wherein the service request comprises an identifier for one or more cargo items designated for autonomous transport.
 5. The computing system of claim 4, wherein the one or more cargo items comprise one or more intermodal containers.
 6. The computing system of claim 5, wherein the one or more intermodal containers are hitched to the autonomous vehicle at the first transfer hub and unhitched from the autonomous vehicle at the second transfer hub.
 7. The computing system of claim 1, wherein the autonomous vehicle comprises an autonomous truck.
 8. The computing system of claim 1, wherein the computing system is remote from the autonomous vehicle and configured to communicate with the autonomous vehicle over one or more networks, and wherein the autonomous vehicle comprises an onboard autonomy system configured to obtain sensor data from at least one sensor onboard the autonomous vehicle and autonomously travel through an environment of the autonomous vehicle based at least in part on the sensor data.
 9. The computing system of claim 1, wherein the data indicative of the first transfer hub and the second transfer hub comprises a transportation route for autonomously transporting the cargo from the first transfer hub to the second transfer hub.
 10. The computing system of claim 9, wherein the transportation route is at least partially along a highway.
 11. The computing system of claim 1, wherein the operations further comprise: determining an intermediate location for the autonomous vehicle between the first transfer hub and the second transfer hub.
 12. The computing system of claim 11, wherein the intermediate location is associated with maintenance.
 13. A computer-implemented method, comprising: obtaining data indicative of cargo, wherein the data is indicative of a first location from which the cargo is to be transported by a first manually operated vehicle and a second location to which the cargo is to be transported by a second manually operated vehicle; determining a first transfer hub and a second transfer hub for transporting the cargo from the first location to the second location, wherein the first transfer hub is based at least in part on the first location for the cargo and the second transfer hub is based at least in part on the second location for the cargo; and providing data indicative of the first transfer hub and the second transfer hub to an autonomous vehicle such that the autonomous vehicle transports the cargo from the first transfer hub to the second transfer hub.
 14. The computer-implemented method of claim 13, wherein the first location is a point-of-origin for the cargo and the second location is a point-of-delivery for the cargo: determining the first transfer hub based at least in part on the point-of-origin for the cargo and the second transfer hub based at least in part on the point-of-delivery for the cargo.
 15. The computer-implemented method of claim 14, wherein the computing system is associated with a plurality of transfer hubs, and wherein determining the first transfer hub based at least in part on the point-of-origin for the cargo and the second transfer hub based at least in part on the point-of-delivery for the cargo, comprises: determining the first transfer hub from the plurality of transfer hubs based on a proximity of the first transfer hub to the point-of-origin for the cargo; and determining the second transfer hub from the plurality of transfer hubs based on a proximity of the second transfer hub to the point-of-delivery for the cargo.
 16. The computer-implemented method of claim 13, wherein the autonomous vehicle is included in a fleet of autonomous trucks.
 17. The computer-implemented method of claim 13, wherein the autonomous vehicle is weighed while located at, at least one of: (i) the first transfer hub or (ii) the second transfer hub.
 18. One or more tangible, non-transitory, computer readable media that store instructions that when executed by one or more processors cause the one or more processors to perform operations comprising: obtaining data indicative of cargo, wherein the data is indicative of a first location from which the cargo is to be transported by a first manually operated vehicle and a second location to which the cargo is to be transported by a second manually operated vehicle; determining a first transfer hub and a second transfer hub for transporting the cargo from the first location to the second location, wherein the first transfer hub is based at least in part on the first location for the cargo and the second transfer hub is based at least in part on the second location for the cargo; and providing data indicative of the first transfer hub and the second transfer hub to an autonomous vehicle such that the autonomous vehicle transports the cargo from the first transfer hub to the second transfer hub.
 19. The one or more tangible, non-transitory, computer readable media of claim 18, further comprising: scheduling the autonomous vehicle to transport the cargo from the first transfer hub to the second transfer hub.
 20. The one or more tangible, non-transitory, computer readable media of claim 18, wherein the autonomous vehicle transports the cargo from the first transfer hub to the second transfer hub based on a schedule. 